a4bd2bec0a
Skip disabled actuators in mjd_actuator_vel.
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Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.
Fixes #1838
PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
2024-07-29 07:31:58 -07:00
3f0749a0f7
Do not remove elements that contain user errors when detaching a subtree.
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PiperOrigin-RevId: 657190780
Change-Id: I073a437013f80596a341f7b80bed991536efeb43
2024-07-29 07:19:12 -07:00
70d70bc3b7
Fix typos in MuJoCo documentation.
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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
2024-07-25 13:31:13 -07:00
5ac5cfb618
Support directories in VFS via mj_addBufferVFS.
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PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
2024-07-23 13:39:18 -07:00
2746cb8559
Support FilePaths instead of raw strings in XML code.
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PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
2024-07-23 08:36:53 -07:00
2d24c58819
Adds support for fixed tendons to MJX.
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PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
2024-07-22 10:49:13 -07:00
33e5960653
Allow multiple textures per material in MJCF.
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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:57:51 -07:00
e79efa60d6
Reset tree indices before recompiling.
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Fixes #1822 .
PiperOrigin-RevId: 654762203
Change-Id: I7f656f7dad376d4899229a8741315c8f821bfa56
2024-07-22 08:30:29 -07:00
f62792594f
Add a new disable flag mjDSBL_AUTORESETNAN.
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PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
2024-07-22 03:22:41 -07:00
d49d4bf64c
Make unsupported feature checking optional in put_model.
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PiperOrigin-RevId: 654141976
Change-Id: I35b5f1e4c5b07e32075e847d4a757698a0b603c1
2024-07-19 15:23:32 -07:00
db1d51a1f5
Add more fields to mjx.Option and mjx.Statistic for MuJoCo compatibility.
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Also add metadata fields to the Python bindings of mjModel and mjOption,
and fix dtype of a number of fields.
PiperOrigin-RevId: 654138876
Change-Id: If2bbe41bf3dfdb350d60b5289afc65fffb397ce9
2024-07-19 15:13:01 -07:00
b3f79e561d
Fix bug in pre-counting equality constraints.
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PiperOrigin-RevId: 654031345
Change-Id: If8c660b3e6fed78d8fd8de470f1cf2a709ac1244
2024-07-19 09:33:59 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
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PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -07:00
8a8a44a4db
Refactor numerical parsing in XML.
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PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
2024-07-19 05:42:02 -07:00
e92af73cbf
Add mjmodel support for textures with different number of channels.
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PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
70ac76bb4b
Add assets to MjSpec.compile()
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PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:34:38 -07:00
85532b74e1
Speed up hfield JIT time by reducing XLA code generation overhead.
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PiperOrigin-RevId: 653766462
Change-Id: I9d7e7fa3a4d33ae0fa9d00babd5c5478eb4eff88
2024-07-18 15:01:43 -07:00
c198a69bbf
Return null pointer from mjs_firstChild and mjs_firstElement when the requested list is empty.
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Fixes #1824 .
PiperOrigin-RevId: 653758711
Change-Id: I6ede762cafd88dcbb0dfc9c2999b7aee24bd2e2a
2024-07-18 14:35:36 -07:00
384ed8097a
Various fixes in mujoco/usd
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PiperOrigin-RevId: 653610253
Change-Id: Ibe57c19c6a7326266f51c5cda39cd564bd456c54
2024-07-18 07:20:28 -07:00
ffb50b7b67
Improve readability of body transmission code.
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(code block mentioned in #1790 )
PiperOrigin-RevId: 653601254
Change-Id: Ibee727ab668b690c3b9a55c39110c6219cca17fa
2024-07-18 06:43:40 -07:00
231d9632cd
Avoid duplicated code in mjCModel by adding ResetTreeLists().
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PiperOrigin-RevId: 653575505
Change-Id: I61ee1462deae2a371cf6f36ca1cf3dbbd88d174c
2024-07-18 05:08:18 -07:00
67922f41b9
Exclude nbuffer from CompareModel.
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This will give more informative errors when the test fails.
PiperOrigin-RevId: 653571444
Change-Id: I78b0a2bfc7794dae81607a9dbbdb91439af48b0c
2024-07-18 04:50:25 -07:00
dd9dd295ba
Prevent uninitialized memory during a copy of joints and actuators.
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PiperOrigin-RevId: 653340718
Change-Id: Icc5ada05abd590504c157311a309f9b8493feac9
2024-07-17 13:22:11 -07:00
dbe18f5740
Add additional MuJoCo fields to MJX structs.
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PiperOrigin-RevId: 653270676
Change-Id: I5f7a62d3bd542abc0d618e63d2426663e7d6406f
2024-07-17 10:04:52 -07:00
dd25973481
Remove unnecessary def_map copying.
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Introduced in 5b080bacc427b9ddda5bhttps://github.com/google-deepmind/mujoco/commit/27b9ddda5bdd12345abdfbc0a6efce121d40cd6c#r144157607 )
PiperOrigin-RevId: 653254345
Change-Id: Ie944d2c3924d3eb91f7743c0d0c8413cd2cd79cc
2024-07-17 09:10:31 -07:00
2664cc1391
Allow passing a null pointer in mj_recompile.
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Fixes #1819 .
PiperOrigin-RevId: 653242587
Change-Id: I36dbd6ed54abdf21abeb62cf41ee88f159008d01
2024-07-17 08:29:01 -07:00
a2fd34caee
Modify test/testdata/model.xml so the wrapping is stable. Fixes #1795
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PiperOrigin-RevId: 653202132
Change-Id: I90ccff840a0b98d44dbee8888cb37ff5195caaa6
2024-07-17 05:46:04 -07:00
f20edda26e
Merge pull request #1759 from Balint-H:fix/unity-multi-dof-axes
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PiperOrigin-RevId: 653173396
Change-Id: Iedd13dc23ccdd370ba0237bbe278d3bde755bb84
2024-07-17 03:54:22 -07:00
2cf352c2e6
Add VFS handling logic to mj_openResource.
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PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
2024-07-17 00:41:18 -07:00
7f46e936f6
Update setuptools to version 70.3.0.
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Addresses CVE-2024-6345.
PiperOrigin-RevId: 652857861
Change-Id: Iea5f6cb58b825b226ba61d259775ddbee05acd6d
2024-07-16 08:38:56 -07:00
8e827d0d50
Add missing changelog item.
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PiperOrigin-RevId: 652830666
Change-Id: Iba41871a4e92081dde6428f12abe93c58ea9b02a
2024-07-16 07:21:37 -07:00
c588023729
Mujoco changelog update for 3.2.0
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PiperOrigin-RevId: 652594852
Change-Id: I69be392fb212263ac55b3cc25fd454c39cbd4553
2024-07-15 14:11:44 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
cb4cb7d09b
Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
2024-07-15 12:00:25 -07:00
39b22ebc26
Remove dangling section header from function docs.
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PiperOrigin-RevId: 652456322
Change-Id: Ib1d7aa387b7ba8957c93f0227f530aa0b37f2668
2024-07-15 06:11:25 -07:00
9a7c1df130
Set unused inherited opaque pointers to nullptr.
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PiperOrigin-RevId: 652444674
Change-Id: I3e82b1e1ae029f2f01ddcdf5ce2ccb45624e7062
2024-07-15 05:15:45 -07:00
cf61d88e41
Move pointer assignments from CopyFromSpec() to PointToLocal().
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Note that these internal pointers are inherited from the public structs and are unused internally.
PiperOrigin-RevId: 652414750
Change-Id: I5e42503bce8e9019291ec0a1f8c4278438474e9b
2024-07-15 02:47:32 -07:00
3d28a1d8c7
Fix formatting in documentation code samples.
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PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
2024-07-14 07:08:18 -07:00
22a10fd2ff
Minor documentation improvements.
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PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
2024-07-13 08:36:47 -07:00
e13ddfa2ab
Improve compiler-related documentation.
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PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
2024-07-12 11:05:16 -07:00
5d51b4cd5f
Check that element is a nullptr before casting.
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The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault.
PiperOrigin-RevId: 651802736
Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
2024-07-12 09:46:16 -07:00
e76f3ce1e3
Rename model to spec in xml_native_reader.cc.
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PiperOrigin-RevId: 651780148
Change-Id: I476c79af4b47bf763f1f3cb166d3f0897554a207
2024-07-12 08:22:54 -07:00
a0df72f43f
Raise memory limit so test passes with dynamic linking
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The memory leak test fails with `RAW: mmap error: 12` when dynamic
linking is enabled. This is probabably because
of the additional memory overhead dynamic linking incurs. Raising it slightly
appears to satisfy the test.
Tested:
TAP --sample ran all affected tests and none failed
http://test/OCL:650692833:BASE:650634362:1720548680801:c55c6a68
PiperOrigin-RevId: 651750900
Change-Id: Ia63d153b326ff7451391789e2d7cae50a62be723
2024-07-12 06:10:37 -07:00
84108589c4
Move the map lookup outside of the mesh processing loop. Change to unordered_map.
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PiperOrigin-RevId: 651745837
Change-Id: Ibfcbe4b8cefa53a3dbaa99c4ca68442e2e10bc5d
2024-07-12 05:45:25 -07:00
6e64dd10e8
Fix bug in RemoveFromList.
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The function was interpreting that the elements that were expected to be detached contained useful user errors, and therefore it was not detaching them. Also, the function tried to compare the namespace between two models, but the namespace is already fused in the references at detach time.
PiperOrigin-RevId: 651738364
Change-Id: Ifdaa9bd5b658bfd18b544b7138a5c2c56b66e936
2024-07-12 05:08:00 -07:00
f1aa52aa9b
Never use more threads than meshes for multi-threaded compile.
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PiperOrigin-RevId: 651728817
Change-Id: Ib607d528c25a10e2cdb8c2b0b0da2189683d2691
2024-07-12 04:18:35 -07:00
9c9faa02d5
Add FilePath utility class for handling resource / file paths in MuJoCo user code.
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PiperOrigin-RevId: 651716008
Change-Id: I250b8cec32aab538f5862f8a05f42d1fae698307
2024-07-12 03:21:21 -07:00
2f46dec669
Fix bug in frame saving. Fixes #1802
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PiperOrigin-RevId: 651696068
Change-Id: Ie1e2e1de4e83c42f2b5ebcc3afd0540b9afe7bbd
2024-07-12 01:56:38 -07:00
3d1d1d0718
Multithreaded mesh compilation.
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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
2024-07-11 04:21:49 -07:00
e7301edd20
Copy arena contents in mj_copyData.
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Fixes #1710 .
PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
2024-07-11 03:54:44 -07:00
Yuval Tassa